With advances in semiconductor technologies, applications for image recognition technologies have found their way from industry to business and consumer fields. We have developed a Japanese chess recording system that automatically records an stores real-time chess moves using a CCD camera located above the chessboard. The system detects chess moves and specifies chess pieces using image recognition techniques and chess rules, and graphically displays the chessboard status on a personal computer. In the past, ideal lighting was necessary to implement the image recognition techniques. In order to use this system under nonideal conditions, for example a general life environment, we have developed the algorithm that is robust to unstable it luminance.
Recently, linear oscillatory actuators have been used in a wide range of applications. In particular, small linear oscillatory actuators are expected to be used in haptic devices by being extended to provide multi-degree-of-freedom motion with arbitrary acceleration. In this paper, we propose a compact two-DOF oscillatory actuator that can move in various directions on a plane. The static and dynamic characteristics of the actuator are determined by the 3D finite element method. The effectiveness of this method is shown through a comparison of the measured results with the experimental results from a prototype.
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